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<a href="fcl__entity__factory_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="i__solver__entity__fcl_8h.html">collision/solvers/fcl/i_solver_entity_fcl.h</a>&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="solver__entity__fcl_8h.html">collision/solvers/fcl/solver_entity_fcl.h</a>&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__object_8h.html">collision/solvers/fcl/fcl_collision_object.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__object__group_8h.html">collision/solvers/fcl/fcl_collision_object_group.h</a>&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="i__fcl__collision__object_8h.html">collision/solvers/fcl/i_fcl_collision_object.h</a>&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape__group_8h.html">collision/shape_group.h</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;{</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    <span class="keyword">namespace </span>solvers</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;        <span class="keyword">namespace </span>solverFCL</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;        {</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a2b0b3dd708f9f3ba35a55714e9f0f63c">   16</a></span>&#160;            <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a>* <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a140a98d814dd7585fee6106058c3c02e">createFCLSolverEntity</a>(<a class="code" href="classcollision_1_1_collision_object.html">CollisionObject</a>* obj, <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">ISolverEntity_FCL</a>* entity)</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;            {</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;                <span class="keywordflow">switch</span> (entity-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html#a366d5d9e5d5cd764cc7ce78c8676c996">getFclEntityType</a>())</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;                {</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;                <span class="keywordflow">case</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a>:</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;                    <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a>((static_cast&lt;CollisionObjectEx*&gt;(obj))-&gt;getContainerInterface(), obj, static_cast&lt;collision::IFCLCollisionObjectGroup*&gt;(entity));</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;                    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;                <span class="keywordflow">case</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">COLLISION_ENTITY_TYPE_FCL_OBJECT</a>:</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;                    <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a>(obj, static_cast&lt;collision::IFCLCollisionObject*&gt;(entity));</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                <span class="keywordflow">default</span>:</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                    <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;                    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;                }</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;            }</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        }</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    }</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;}</div><div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l_html_a366d5d9e5d5cd764cc7ce78c8676c996"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html#a366d5d9e5d5cd764cc7ce78c8676c996">collision::solvers::solverFCL::ISolverEntity_FCL::getFclEntityType</a></div><div class="ttdeci">virtual FCL_COLLISION_ENTITY_TYPE getFclEntityType(void) const</div><div class="ttdef"><b>Definition:</b> <a href="i__solver__entity__fcl_8h_source.html#l00013">i_solver_entity_fcl.h:13</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">collision::solvers::solverFCL::ISolverEntity_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="i__solver__entity__fcl_8h_source.html#l00011">i_solver_entity_fcl.h:11</a></div></div>
<div class="ttc" id="solver__entity__fcl_8h_html"><div class="ttname"><a href="solver__entity__fcl_8h.html">solver_entity_fcl.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">collision::solvers::solverFCL::COLLISION_ENTITY_TYPE_FCL_OBJECT</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00017">fcl_entity_type.h:17</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">collision::solvers::solverFCL::COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00018">fcl_entity_type.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">collision::solvers::solverFCL::FCLCollisionObjectGroup</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00027">fcl_collision_object_group.h:27</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a140a98d814dd7585fee6106058c3c02e"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a140a98d814dd7585fee6106058c3c02e">collision::solvers::solverFCL::createFCLSolverEntity</a></div><div class="ttdeci">SolverEntity_FCL * createFCLSolverEntity(const CollisionObjectEx *obj)</div><div class="ttdef"><b>Definition:</b> <a href="solver__entity__fcl__factory_8h_source.html#l00015">solver_entity_fcl_factory.h:15</a></div></div>
<div class="ttc" id="shape__group_8h_html"><div class="ttname"><a href="shape__group_8h.html">shape_group.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">collision::solvers::solverFCL::SolverEntity_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="solver__entity__fcl_8h_source.html#l00010">solver_entity_fcl.h:10</a></div></div>
<div class="ttc" id="i__fcl__collision__object_8h_html"><div class="ttname"><a href="i__fcl__collision__object_8h.html">i_fcl_collision_object.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">collision::solvers::solverFCL::FCLCollisionObject</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object_8h_source.html#l00027">fcl_collision_object.h:27</a></div></div>
<div class="ttc" id="fcl__collision__object_8h_html"><div class="ttname"><a href="fcl__collision__object_8h.html">fcl_collision_object.h</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="fcl__collision__object__group_8h_html"><div class="ttname"><a href="fcl__collision__object__group_8h.html">fcl_collision_object_group.h</a></div></div>
<div class="ttc" id="i__solver__entity__fcl_8h_html"><div class="ttname"><a href="i__solver__entity__fcl_8h.html">i_solver_entity_fcl.h</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
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